CN110719136B - Unmanned aerial vehicle defense system - Google Patents
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04K—SECRET COMMUNICATION; JAMMING OF COMMUNICATION
- H04K3/00—Jamming of communication; Counter-measures
- H04K3/60—Jamming involving special techniques
- H04K3/65—Jamming involving special techniques using deceptive jamming or spoofing, e.g. transmission of false signals for premature triggering of RCIED, for forced connection or disconnection to/from a network or for generation of dummy target signal
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/21—Interference related issues ; Issues related to cross-correlation, spoofing or other methods of denial of service
- G01S19/215—Interference related issues ; Issues related to cross-correlation, spoofing or other methods of denial of service issues related to spoofing
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04K—SECRET COMMUNICATION; JAMMING OF COMMUNICATION
- H04K3/00—Jamming of communication; Counter-measures
- H04K3/80—Jamming or countermeasure characterized by its function
- H04K3/92—Jamming or countermeasure characterized by its function related to allowing or preventing remote control
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Abstract
The invention discloses an unmanned aerial vehicle interference spoofing system and an unmanned aerial vehicle defending system, which specifically comprise: the unmanned aerial vehicle interference deception system comprises an unmanned aerial vehicle interference deception system, a photoelectric tracking system, a radio interference system, a GPS deception integrated machine and an unmanned aerial vehicle defense system; and based on the unmanned aerial vehicle GPS spoofing trapping method and the unmanned aerial vehicle flying hand positioning method provided by the unmanned aerial vehicle defense system.
Description
Technical Field
The invention relates to the technical field of electromagnetic countermeasure, in particular to an unmanned aerial vehicle interference spoofing system and an unmanned aerial vehicle defense system.
Background
The prior art pays the unmanned aerial vehicle: firstly shielding a communication line of the unmanned aerial vehicle, cutting off the contact between the unmanned aerial vehicle and a ground control center, breaking the safe data connection between the unmanned aerial vehicle and a GPS satellite, and forcing the unmanned aerial vehicle to enter an automatic navigation state; the method is characterized in that the error information is packaged into a reliable GPS signal by using a forward deception jamming technology, so that accurate landing altitude and longitude and latitude data are mastered, the accurate landing altitude and longitude and latitude data are landed at a designated place, and remote control and communication signals of the unmanned aerial vehicle and a command center do not need to be cracked in the whole process. All the existing GPS decoy capturing methods of military and civil unmanned aerial vehicles are based on the basic principle.
Chinese patent publication No. CN206235739U discloses a GPS tamper system, which is composed of a control center, a servo control system, a jammer, a scanning device, and a GPS tamper, and the tamper method of the system also belongs to a conventional technique in the field of unmanned aerial vehicle defense. The system described in this patent has the disadvantage that: 1. the independent GPS deception device has higher cost; 2. the whole system takes a control center as a data interaction center, and the line is complex when the system is actually deployed; 3. the interference device and the GPS deception device are mutually independent, and the antenna is designed in a redundant way; 4. the target controller is irrelevant to the whole technical scheme of the GPS interference spoofing system.
Chinese patent publication No. CN105929417a discloses a method of capturing a drone. The method comprises a system initialization stage, a dynamic adjustment stage and a forced landing unmanned aerial vehicle stage. The disadvantage of this method is that: 1. the unmanned aerial vehicle and the remote controller direct control signals are not cut off, the unmanned aerial vehicle is effective in cheating aiming at GPS programming flying, and the unmanned aerial vehicle is ineffective in cheating aiming at real-time control; 2. in practical engineering application, firstly, the relocation of the unmanned aerial vehicle to the deception signal has a certain reaction time, and secondly, the position movement information of the unmanned aerial vehicle needs to be observed, which depends on radar or radio spectrum unmanned aerial vehicle position detection equipment, and the equipment can generate corresponding tracks only after the unmanned aerial vehicle flies for a period of time, which leads to overlong dynamic adjustment stage duration and lower practicability of the method due to overlong decoy time in practical use.
Chinese patent publication No. CN107678023a discloses a passive positioning and recognition system for a civilian unmanned aerial vehicle. The system can detect and position the unmanned aerial vehicle and the signals of the remote controller held by the fly hand, and solves the problem of capturing the fly hand to a certain extent. But this system has the following drawbacks: 1. because passive positioning is adopted, the system cannot detect unmanned aerial vehicles which do not emit electromagnetic waves, such as programmed flight; 2. because the flying hand-held remote controller is usually on the ground, the remote control signal has multipath transmission, and the remote control signal emitted by the remote controller has directionality and is not necessarily detected by a passive radar, the problems of difficult positioning, fuzzy positioning and the like of the flying hand exist, and even if the flying hand is positioned in a flying hand position area, the ground staff is required to hold a portable radio frequency spectrum detector for searching when capturing is implemented, so that inconvenience is brought to law enforcement.
Chinese patent publication No. CN107329151a discloses a GPS spoofing detection method for an electric power inspection unmanned aerial vehicle. The unmanned aerial vehicle using the method realizes the detection of GPS spoofing by detecting whether the GPS signal intensity is abnormal or not.
In summary, the mainstream method of the anti-unmanned aerial vehicle technology is to detect the unmanned aerial vehicle through the radar and the radio spectrum unmanned aerial vehicle position detection device, identify the unmanned aerial vehicle by using the photoelectric device, interfere the unmanned aerial vehicle by using the jammer, or decoy the unmanned aerial vehicle by using the GPS deception device. But at present the common problems are: 1. the equipment integration level of the anti-unmanned aerial vehicle system is not high enough, but the simple piecing of the existing equipment is only carried out; 2. the unmanned aerial vehicle flight control system gradually introduces an anti-GPS deception algorithm, so that the difficulty of GPS deception is gradually increased; 3. the problem that unmanned aerial vehicle flying hands are difficult to fix and capture is not solved all the time.
Disclosure of Invention
In order to overcome the defects in the prior art, the invention provides an unmanned aerial vehicle interference spoofing system and an unmanned aerial vehicle defense system, which specifically comprise: the unmanned aerial vehicle interference deception system comprises an unmanned aerial vehicle interference deception system, a photoelectric tracking system, a radio interference system, a GPS deception integrated machine and an unmanned aerial vehicle defense system; and the unmanned aerial vehicle GPS spoofing trapping method and the unmanned aerial vehicle flying hand positioning method provided by the unmanned aerial vehicle defense system based on the invention.
In order to achieve the above purpose, the present invention adopts the following technical scheme, including:
the unmanned aerial vehicle interference spoofing system comprises front-end equipment and back-end equipment.
The front-end device includes: the system comprises a servo holder system, a photoelectric video module, a radio interference deception unit, a front-end network switch and a power module; the back-end equipment is a back-end computer; wherein,,
the servo cradle head system performs data communication with a rear-end computer through a front-end network switch;
the photoelectric video module is in data communication with the back-end computer through a front-end network switch;
the radio interference deception unit is in data communication with the back-end computer through the front-end network switch;
the radio interference spoofing unit includes: a directional radio frequency antenna, a software defined radio generator;
the radio interference spoofing unit is used for generating and transmitting radio communication interference signals, GPS frequency band interference signals and GPS spoofing signals of the unmanned aerial vehicle through the directional radio frequency antenna; the GPS frequency band interference signal is used for interfering communication between the unmanned aerial vehicle and the GPS; the radio communication interference signal is used for interfering communication between the unmanned aerial vehicle and the remote controller;
the GPS deception signal generated by the radio interference deception unit is generated by a back-end computer and a software radio generator; the GPS deception signal and the GPS frequency band interference signal are transmitted through the same directional radio frequency antenna; the direction of the directional radio frequency antenna is parallel to the direction of the optical axis of the lens of the photoelectric video module.
The generation part of the radio communication interference signal and the GPS frequency band interference signal of the radio interference spoofing unit consists of an interference switch controller connected with a front-end network switch, a 1.5G radio interference module, a 2.4G radio interference module and a 5.8G radio interference module which are respectively connected with the interference switch controller;
the generation part of the GPS deception signal of the radio interference deception unit consists of a software radio generator connected with a front-end network switch and a 1.5G radio frequency power amplifier module connected with the software radio generator;
the 1.5G radio frequency power amplifier module and the 1.5G radio interference module are connected with a 1.5G directional radio frequency antenna through a power divider; the 2.4G radio interference module and the 5.8G radio interference module are connected with directional radio frequency antennas of corresponding frequency bands respectively.
The radio communication interference signals generated by the radio interference spoofing unit are divided into low-frequency interference signals and high-frequency interference signals; the low-frequency interference signal is generated by a software radio generator connected with a front-end network switch, is sent to a low-frequency power amplification module for amplification, and is transmitted by a low-frequency ultra-wide directional radio frequency antenna; the high-frequency interference signal is generated by a software radio generator connected with a front-end network switch, is sent to a high-frequency power amplification module for amplification and is transmitted by a high-frequency ultra-wide directional radio frequency antenna;
the GPS deception signal and GPS frequency band interference signal of the radio deception unit are generated by a software radio generator connected with a front-end network switch, amplified by a 1.5G radio frequency power amplification module connected with the software radio generator, and transmitted by a 1.5G directional radio frequency antenna.
The front-end equipment forms an integrated machine of photoelectric tracking, radio interference and GPS deception.
Unmanned aerial vehicle position detection equipment, the photoelectric tracking of claim 4, radio interference, GPS deception all-in-one; each device is communicated and interconnected with the back-end computer through the front-end network switch.
The unmanned aerial vehicle GPS deception trapping is carried out by utilizing the unmanned aerial vehicle defense system, and the method specifically comprises the following steps:
s21: detecting, namely detecting the position of a suspected unmanned aerial vehicle target by using unmanned aerial vehicle position detection equipment, and guiding a servo holder system of an integrated machine of photoelectric tracking, radio interference and GPS deception to control directional interference antennas of all frequency bands to point to the direction of the suspected unmanned aerial vehicle target;
s22: identifying, namely identifying that the integrated machine is indeed an unmanned aerial vehicle through photoelectric tracking, radio interference and GPS deception, entering the next step, and otherwise, terminating the operation;
s23: tracking, namely controlling a servo cradle head system by utilizing video information of the unmanned aerial vehicle and detection information of position detection equipment of the unmanned aerial vehicle, so that antennas in all frequency bands always point to the unmanned aerial vehicle;
s24: blocking-type interference, namely, interference of a communication frequency band and a GPS frequency band of the unmanned aerial vehicle, so that the unmanned aerial vehicle is disconnected with a remote controller, and GPS satellite positioning is lost;
s25: automatically returning to the navigation decoy, closing GPS frequency band interference, and simultaneously transmitting longitude and latitude simulation GPS signals beyond 20km in the reverse direction of the pre-decoy flight to the unmanned aerial vehicle;
s26: the unmanned aerial vehicle forced landing is carried out, and when the unmanned aerial vehicle flies to a preset place, a GPS position analog signal of a no-fly zone is transmitted, or a return point position analog signal of the unmanned aerial vehicle is transmitted to the unmanned aerial vehicle, so that the unmanned aerial vehicle is induced to automatically land, and the return point position is a navigation point position.
In S26, the navigation point position is obtained through the positioning of the flying hand, and the unmanned aerial vehicle defending system is utilized to perform the positioning of the flying hand, which specifically includes the following steps:
s11: detecting, namely detecting the position of a suspected unmanned aerial vehicle target by using unmanned aerial vehicle position detection equipment, and guiding a servo holder system of an integrated machine of photoelectric tracking, radio interference and GPS deception to control directional interference antennas of all frequency bands to point to the direction of the suspected unmanned aerial vehicle target;
s12: identifying, namely identifying that the integrated machine is indeed an unmanned aerial vehicle through photoelectric tracking, radio interference and GPS deception, entering the next step, and otherwise, terminating the operation;
s13: tracking, namely controlling a servo cradle head system by utilizing unmanned aerial vehicle video information from a photoelectric video module and detection information from unmanned aerial vehicle position detection equipment, so that antennas in all frequency bands always point to the unmanned aerial vehicle;
s14: the automatic return interference, the communication frequency band of the unmanned aerial vehicle is interfered by the radio communication interference signal, so that the unmanned aerial vehicle is disconnected with the remote controller, and the automatic return is realized;
s15: the position and the course are recorded for the first time, and the unmanned plane position detection equipment records the current real position coordinate information and the course information of the unmanned plane;
s16: blocking interference, namely interfering a communication frequency band of the unmanned aerial vehicle through a radio communication interference signal, so that the unmanned aerial vehicle is disconnected with a remote controller, interfering a GPS frequency band of the unmanned aerial vehicle through a GPS frequency band interference signal, and losing GPS satellite positioning;
s17: automatically returning to the navigation decoy, closing GPS frequency band interference, and simultaneously transmitting longitude and latitude simulation GPS signals which are not in the same direction as the flight heading of the unmanned aerial vehicle detected in the step S15 and are away from the unmanned aerial vehicle by more than 5km to the unmanned aerial vehicle;
s18: the position and heading secondary record is carried out, and unmanned plane heading information is recorded by unmanned plane position detection equipment;
s19: and calculating the navigation point, namely calculating the position information of the navigation point of the unmanned aerial vehicle according to the real coordinate information and the heading information of the unmanned aerial vehicle measured in the step S15 and the virtual coordinate information of the unmanned aerial vehicle generated in the step S17, namely, the longitude and latitude which are not in the same direction as the flight heading of the unmanned aerial vehicle detected in the step S15 and are away from the unmanned aerial vehicle by 5km, and according to the heading information of the unmanned aerial vehicle recorded in the step S18.
Utilize unmanned aerial vehicle defense system carries out unmanned aerial vehicle GPS spoofing and traps, replaces S25 with: and (3) automatically returning to the navigation decoy, reducing GPS frequency band interference power to the GPS signal intensity of the real satellite in the environment, and simultaneously transmitting longitude and latitude simulation GPS signals beyond 20km in the reverse direction of the pre-decoy flight to the unmanned aerial vehicle.
The anti-GPS spoofing unmanned aerial vehicle based on GPS position and intensity memory is subjected to GPS spoofing by the unmanned aerial vehicle defending system, meanwhile, the current position GPS spoofing signal and the GPS frequency band interference signal of the unmanned aerial vehicle are transmitted by the unmanned aerial vehicle, the GPS spoofing signal is larger than the GPS frequency band interference signal, and the intensity of the two signals to the GPS frequency band interference signal is gradually increased to be equal to that of a surrounding environment real GPS signal.
The invention has the advantages that:
(1) The unmanned aerial vehicle defense system provided by the utility model has the advantages of high integration level with photoelectric tracking, radio interference and GPS deception integrated machine, and convenient use.
(2) The unmanned aerial vehicle defense system provided is still effective with photoelectric tracking, radio interference and GPS spoofing integrated unmanned aerial vehicle for preventing GPS spoofing partially.
(3) Based on the unmanned aerial vehicle defense system, the invention also provides a simple unmanned aerial vehicle GPS spoofing trapping method.
(4) The invention further provides an unmanned aerial vehicle flying hand positioning method based on the unmanned aerial vehicle defense system.
(5) When the unmanned aerial vehicle GPS deception trapping is carried out, in order to enhance the deception of GPS signals, a part of background noise can be overlapped when the simulated GPS signals, namely the GPS deception signals, are transmitted, and the environment real GPS signals are covered.
(6) The invention further provides an unmanned aerial vehicle GPS spoofing trapping method aiming at the anti-GPS spoofing based on GPS position and strength memory.
(7) The invention further provides a GPS spoofing trapping method for the unmanned aerial vehicle with the non-legal remote control frequency band based on the unmanned aerial vehicle defending system.
Drawings
Fig. 1 is a block diagram of an unmanned aerial vehicle interference spoofing system of the present invention.
Fig. 2 is a block diagram of an unmanned aerial vehicle interference spoofing system of the present invention.
Fig. 3 is a flowchart of a method for positioning a fly of an unmanned aerial vehicle according to the present invention.
Fig. 4 is a flow chart of a unmanned aerial vehicle GPS spoofing trapping method of the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
As shown in fig. 1 and 2, the unmanned aerial vehicle interference spoofing system of the present invention includes a front-end device and a back-end device.
The front-end device includes: the system comprises a servo holder system, a photoelectric video module, a radio interference deception unit, a front-end network switch and a power module; the back-end equipment is a back-end computer. Wherein,,
the servo cradle head system performs data communication with a rear-end computer through a front-end network switch;
the photoelectric video module is in data communication with the back-end computer through a front-end network switch;
the radio interference spoofing unit communicates data with the back-end computer through the front-end network switch.
The radio interference spoofing unit includes: a directional radio frequency antenna and a software defined radio generator;
the radio interference spoofing unit is used for generating and transmitting radio communication interference signals, GPS frequency band interference signals and GPS spoofing signals of the unmanned aerial vehicle through the directional radio frequency antenna. The GPS frequency band interference signal is used for interfering communication between the unmanned aerial vehicle and the GPS; the radio communication interference signal is used for interfering communication between the unmanned aerial vehicle and the remote controller.
The GPS deception signal generated by the radio interference deception unit is generated by a back-end computer and a software radio generator; the GPS deception signal and the GPS frequency band interference signal are transmitted through the same directional radio frequency antenna; the direction of the directional radio frequency antenna is parallel to the direction of the optical axis of the lens of the photoelectric video module.
Software radio generators, also known as Software Defined Radio, SDR. In popular terms, the SDR is based on a general-purpose hardware platform with software to implement various communication modules. There are three types of software radio generators currently in common use, USRP, bladeRF, hackRF.
The industrial and informationized department has issued in 2015 a notice of how often the industrial and informationized department uses unmanned aerial vehicle systems, which has specified that to meet the needs of emergency disaster relief, forest fire protection, environmental monitoring, scientific research tests, etc. for unmanned aerial vehicle systems, the frequency bands of 840.5-845MHz, 1430-1444MHz and 2408-2440MHz are planned for unmanned aerial vehicle systems according to the national spectrum use conditions and the national radio frequency division regulations of the people's republic of China. The above-mentioned radio communication interference signals refer to these three frequency bands and 5.8G unmanned aerial vehicle map signal frequency band. The preferred solution does not design the two remote control bands of 840.5-845MHz and 1430-1444MHz, as there are a small number of commercial drones using these two remote control bands.
The photoelectric video module mainly comprises two types of visible light video detection and infrared video detection. Preferably, a 750 mm-level zoom visible lens and a 150 mm-level zoom infrared lens are used, so that the detection of 3km of visible light and 600 meters of infrared light of the micro unmanned aerial vehicle can be realized.
The servo holder system is very common in the field of photoelectric video detection, mainly comprises three types of spherical holders, T-shaped holders and U-shaped holders, and preferably adopts two structural forms of the T-shaped holders and the U-shaped holders. The commercial hardware tracking module is integrated in the partial servo holder system, so that the picture information of the photoelectric video module can be read, and unmanned aerial vehicles moving in the picture can be tracked; a software tracking module is also arranged in the prior art, a hardware tracking module is not integrated in a servo holder system applying the software tracking module, and the moving direction of a moving target is calculated through analysis of a video picture by a back-end computer, so that the servo holder system is controlled to always point to the moving target. The hardware tracking module is correspondingly quick, has low delay, is not easy to lose when the unmanned aerial vehicle turns to large mobility, but depends on algorithms such as image edge extraction and the like, and has poor tracking effect on the unmanned aerial vehicle under a complex background; the software tracking module processes more relays through computer information and has higher delay, but because the software tracking module can integrate a plurality of advanced algorithms based on chromaticity space and image recognition, the target is not easy to lose under a complex background.
The following 1.5G, 2.4G, 5.8G represent the 1.5G navigation frequency band, 2.4G remote control signal frequency band, and 5.8G unmanned aerial vehicle map signal frequency band, respectively, and do not represent frequency points.
Embodiment one:
as shown in fig. 1, the unmanned aerial vehicle interference spoofing system comprises a front-end device and a back-end device. The front-end device includes: the system comprises a servo holder system, a photoelectric video module, a radio interference deception unit, a front-end network switch and a power module; the back-end equipment is a back-end computer. Wherein,,
the servo cradle head system performs data communication with a rear-end computer through a front-end network switch;
the photoelectric video module is in data communication with the back-end computer through a front-end network switch;
the radio interference spoofing unit communicates data with the back-end computer through the front-end network switch.
The radio interference spoofing unit includes: the system comprises an interference switch controller, a 1.5G radio interference module, a 2.4G radio interference module, a 5.8G radio interference module, a software radio generator, a 1.5G radio frequency power amplifier module, a power divider, a 1.5G directional radio frequency antenna, a 2.4G directional radio frequency antenna and a 5.8G directional radio frequency antenna.
Wherein,,
the generation part of the radio communication interference signal and the GPS frequency band interference signal of the radio interference spoofing unit consists of an interference switch controller connected with a front-end network switch, and a 1.5G radio interference module, a 2.4G radio interference module and a 5.8G radio interference module respectively connected with the interference switch controller. The 1.5G radio interference module generates GPS frequency band interference signals; the 2.4G radio interference module and the 5.8G radio interference module form a radio communication interference signal;
the GPS deception signal generating part of the radio deception unit consists of a software radio generator connected with the front-end network switch and a 1.5G radio frequency power amplifier module connected with the software radio generator.
The 1.5G radio frequency power amplifier module and the 1.5G radio interference module are connected to the 1.5G directional radio frequency antenna through a power divider.
The 2.4G radio interference module and the 5.8G radio interference module are respectively connected with the directional radio frequency antennas of the corresponding frequency bands, namely the 2.4G directional radio frequency antennas and the 5.8G directional radio frequency antennas are respectively connected.
The scheme of the unmanned aerial vehicle interference deception system of the first embodiment has the advantages that the 1.5G, 2.4G and 5.8G radio interference modules all have mature goods shelf products on the market, and can realize better unmanned aerial vehicle interference deception effect with lower cost.
Embodiment two:
as shown in fig. 2, the unmanned aerial vehicle interference spoofing system includes a front-end device and a back-end device. The front-end device includes: the system comprises a servo holder system, a photoelectric video module, a radio interference deception unit, a front-end network switch and a power module; the back-end equipment is a back-end computer. Wherein,,
the servo cradle head system performs data communication with a rear-end computer through a front-end network switch;
the photoelectric video module is in data communication with the back-end computer through a front-end network switch;
the radio interference spoofing unit communicates data with the back-end computer through the front-end network switch.
The radio interference spoofing unit includes: the device comprises a software radio generator, a 1.5G radio frequency power amplification module, a low-frequency power amplification module, a high-frequency power amplification module, a 1.5G directional radio frequency antenna, a low-frequency ultra-wide directional radio frequency antenna and a high-frequency ultra-wide directional radio frequency antenna. The interference signal generated by the radio interference spoofing unit is divided into a low frequency interference signal and a high frequency interference signal. Wherein,,
the low-frequency interference signal is generated by a software radio generator connected with a front-end network switch, is sent to a low-frequency power amplification module for amplification, and is transmitted by a low-frequency ultra-wide directional radio frequency antenna;
the high-frequency interference signal is generated by a software radio generator connected with a front-end network switch, is sent to a high-frequency power amplification module for amplification and is transmitted by a high-frequency ultra-wide directional radio frequency antenna;
the GPS deception signal and GPS frequency band interference signal of the radio deception unit are firstly generated by a software radio generator connected with a front-end network switch, then amplified by a 1.5G radio frequency power amplification module connected with the software radio, and finally transmitted by a 1.5G directional radio frequency antenna.
The scheme of the unmanned aerial vehicle interference deception system of the second embodiment can be used for illegally refitting a non-legal remote control frequency band 'black flying' unmanned aerial vehicle, the cost is high, and a good defending effect can be achieved. The two paths of signals of the low-frequency interference signal and the high-frequency interference signal are adopted, so that the consideration of hardware cost is taken into consideration, the frequency band of the signal generated by the existing software radio generator can cover 30MHz-6GHz, but if a 30MHz-6GHz full-frequency band power amplifier and a directional radio frequency antenna are used, the engineering cost is too high.
Embodiment III:
an integrated machine for photoelectric tracking, radio interference and GPS spoofing is composed of front-end equipment in an unmanned aerial vehicle interference spoofing system of the first embodiment, namely, the integrated machine comprises: the system comprises a servo holder system, a photoelectric video module, a radio interference deception unit, a front-end network switch and a power module. The servo holder system, the photoelectric video module and the radio interference deception unit are respectively connected with the front-end network switch. The radio interference spoofing unit includes: the device comprises a software radio generator, a 1.5G radio frequency power amplification module, a low-frequency power amplification module, a high-frequency power amplification module, a 1.5G directional radio frequency antenna, a low-frequency ultra-wide directional radio frequency antenna and a high-frequency ultra-wide directional radio frequency antenna; the connection of the individual components of the radio interference spoofing unit is described in embodiment one. The power module is used for supplying power to the all-in-one machine.
The servo tripod head system adopts a servo direct-drive U-shaped tripod head structure, and a lens bin is arranged between two U-shaped arms;
the visible light camera, the thermal imaging camera and the laser illuminator in the lens bin form a photoelectric video module;
the lower part of the lens bin is provided with a radio interference deception unit host;
the upper part of the lens bin is provided with a directional radio frequency antenna with a corresponding frequency band;
the host of the radio interference deception unit is connected with the directional radio frequency antenna of the corresponding frequency band through a feeder line.
Embodiment four:
an integrated machine for photoelectric tracking, radio interference and GPS spoofing is composed of front-end equipment in an unmanned aerial vehicle interference spoofing system of the second embodiment, namely, the integrated machine comprises: the system comprises a servo holder system, a photoelectric video module, a radio interference deception unit, a front-end network switch and a power module. The servo holder system, the photoelectric video module and the radio interference deception unit are respectively connected with the front-end network switch. The radio interference spoofing unit includes: the system comprises an interference switch controller, a 1.5G radio interference module, a 2.4G radio interference module, a 5.8G radio interference module, a software radio generator, a 1.5G radio frequency power amplifier module, a power divider, a 1.5G directional radio frequency antenna, a 2.4G directional radio frequency antenna and a 5.8G directional radio frequency antenna; the connection of the individual components of the radio interference spoofing unit is described in embodiment two. The power module is used for supplying power to the all-in-one machine.
The servo tripod head system adopts a servo direct-drive U-shaped tripod head structure, and a lens bin is arranged between two U-shaped arms;
the visible light camera, the thermal imaging camera and the laser illuminator in the lens bin form a photoelectric video module;
the lower part of the lens bin is provided with a radio interference deception unit host;
the upper part of the lens bin is provided with a directional radio frequency antenna with a corresponding frequency band;
the host of the radio interference deception unit is connected with the directional radio frequency antenna of the corresponding frequency band through a feeder line.
Fifth embodiment:
the unmanned aerial vehicle defending system comprises an external network switch, a terminal computer, unmanned aerial vehicle position detection equipment and the photoelectric tracking, radio interference and GPS spoofing integrated machine in the third embodiment. The unmanned aerial vehicle position detection device is unmanned aerial vehicle detection radar, radio frequency spectrum unmanned aerial vehicle position detection device or a combination of the two.
Example six:
the unmanned aerial vehicle defending system comprises an external network switch, a terminal computer, unmanned aerial vehicle position detection equipment and the photoelectric tracking, radio interference and GPS spoofing integrated machine in the fourth embodiment. The unmanned aerial vehicle position detection device is unmanned aerial vehicle detection radar, radio frequency spectrum unmanned aerial vehicle position detection device or a combination of the unmanned aerial vehicle detection radar and the radio frequency spectrum unmanned aerial vehicle position detection device; and the unmanned aerial vehicle position detection device comprises at least one radio frequency spectrum unmanned aerial vehicle position detection device.
The unmanned aerial vehicle defense system of the fifth embodiment and the sixth embodiment detects and positions the unmanned aerial vehicle, and the following modes of detection and positioning can be selected:
1. the detection of the unmanned aerial vehicle adopts TDOA multipoint positioning detection, the unmanned aerial vehicle is positioned by monitoring the image transmission information of the unmanned aerial vehicle, and the unmanned aerial vehicle position information is sent to the photoelectric tracking, radio interference and GPS deception integrated machine to wait for treatment.
2. And detecting the unmanned aerial vehicle by adopting frequency spectrum direction finding equipment, and orienting the unmanned aerial vehicle by monitoring the direction transmitted by the information transmitted by the unmanned aerial vehicle map. The multi-station arranged frequency spectrum direction finding equipment calculates the position information of the unmanned aerial vehicle through direction crossing and sends the information to the photoelectric tracking, radio interference and GPS deception integrated machine to wait for treatment.
3. Adopt unmanned aerial vehicle to detect the radar and detect the unmanned aerial vehicle of flight to send unmanned aerial vehicle position information to above-mentioned photoelectric tracking, radio interference, GPS deception all-in-one, wait to handle.
Embodiment seven:
the method for positioning the fly hand when the unmanned aerial vehicle defending system of the fifth embodiment is used for positioning the fly hand comprises the following steps:
s11: detecting, namely detecting the position of a suspected unmanned aerial vehicle target by using unmanned aerial vehicle position detection equipment, guiding a servo holder of a photoelectric tracking, radio interference and GPS spoofing integrated machine to control directional interference antennas of all frequency bands to point to the direction of the suspected unmanned aerial vehicle target;
s12: identifying, namely identifying that the integrated machine is indeed an unmanned aerial vehicle through photoelectric tracking, radio interference and GPS deception, entering the next step, and otherwise, terminating the operation;
s13: tracking, namely controlling a servo cradle head by utilizing unmanned aerial vehicle video information from a photoelectric video module and detection information from unmanned aerial vehicle position detection equipment, so that antennas in all frequency bands always point to the unmanned aerial vehicle;
s14: the automatic return interference, the communication frequency band of the unmanned aerial vehicle is interfered by the radio communication interference signal, so that the unmanned aerial vehicle is disconnected with the remote controller, and the automatic return is realized;
s15: the position and the course are recorded for the first time, and the unmanned plane position detection equipment records the current real position coordinate information and the course information of the unmanned plane;
s16: blocking interference, namely interfering a communication frequency band of the unmanned aerial vehicle through a radio communication interference signal, so that the unmanned aerial vehicle is disconnected with a remote controller, interfering a GPS frequency band of the unmanned aerial vehicle through a GPS frequency band interference signal, and losing GPS satellite positioning;
s17: automatically returning to the navigation decoy, closing GPS frequency band interference, and simultaneously transmitting longitude and latitude simulation GPS signals which are not in the same direction as the flight heading of the unmanned aerial vehicle detected in the step S15 and are away from the unmanned aerial vehicle by more than 5km to the unmanned aerial vehicle;
s18: the position and heading secondary record is carried out, and unmanned plane heading information is recorded by unmanned plane position detection equipment;
s19: and calculating the navigation point, namely calculating the position information of the navigation point of the unmanned aerial vehicle according to the real coordinate information and the heading information of the unmanned aerial vehicle measured in the step S15 and the virtual coordinate information of the unmanned aerial vehicle generated in the step S17, namely, the longitude and latitude which are not in the same direction as the flight heading of the unmanned aerial vehicle detected in the step S15 and are away from the unmanned aerial vehicle by 5km, and according to the heading information of the unmanned aerial vehicle recorded in the step S18.
Example eight:
the unmanned aerial vehicle GPS spoofing trapping method when using the unmanned aerial vehicle defense system of the fifth embodiment to perform unmanned aerial vehicle GPS spoofing trapping comprises the following steps:
s21: detecting, namely detecting the position of a suspected unmanned aerial vehicle target by using unmanned aerial vehicle position detection equipment, guiding a servo holder of a photoelectric tracking, radio interference and GPS spoofing integrated machine to control directional interference antennas of all frequency bands to point to the direction of the suspected unmanned aerial vehicle target;
s22: identifying, namely identifying that the integrated machine is indeed an unmanned aerial vehicle through photoelectric tracking, radio interference and GPS deception, entering the next step, and otherwise, terminating the operation;
s23: tracking, namely controlling a servo cradle head by utilizing video information of the unmanned aerial vehicle and detection information of position detection equipment of the unmanned aerial vehicle, so that antennas in all frequency bands always point to the unmanned aerial vehicle;
s24: blocking-type interference, namely, interference of a communication frequency band and a GPS frequency band of the unmanned aerial vehicle, so that the unmanned aerial vehicle is disconnected with a remote controller, and GPS satellite positioning is lost;
s25: automatically returning to the navigation decoy, closing GPS frequency band interference, and simultaneously transmitting longitude and latitude simulation GPS signals beyond 20km in the reverse direction of the pre-decoy flight to the unmanned aerial vehicle;
s26: and when the unmanned aerial vehicle is forced to land, the unmanned aerial vehicle flies to a preset place, and a GPS position analog signal of a no-fly zone or a return point position analog signal of the unmanned aerial vehicle is transmitted to the unmanned aerial vehicle, so that the unmanned aerial vehicle is induced to land automatically, wherein the return point position is a take-off point position. The navigation point position is obtained by the fly hand positioning method in the seventh embodiment.
Example nine:
the unmanned aerial vehicle GPS spoofing trapping method when using the unmanned aerial vehicle defense system of the fifth embodiment to perform unmanned aerial vehicle GPS spoofing trapping comprises the following steps:
s31: detecting, namely detecting the position of a suspected unmanned aerial vehicle target by using unmanned aerial vehicle position detection equipment, guiding a servo holder of a photoelectric tracking, radio interference and GPS spoofing integrated machine to control directional interference antennas of all frequency bands to point to the direction of the suspected unmanned aerial vehicle target;
s32: identifying, namely identifying that the integrated machine is indeed an unmanned aerial vehicle through photoelectric tracking, radio interference and GPS deception, entering the next step, and otherwise, terminating the operation;
s33: tracking, namely controlling a servo cradle head by utilizing video information of the unmanned aerial vehicle and detection information of position detection equipment of the unmanned aerial vehicle, so that antennas in all frequency bands always point to the unmanned aerial vehicle;
s34: blocking-type interference, namely, interference of a communication frequency band and a GPS frequency band of the unmanned aerial vehicle, so that the unmanned aerial vehicle is disconnected with a remote controller, and GPS satellite positioning is lost;
s35: automatic return voyage decoy, reduce the interference power of navigation frequency band to the real satellite GPS signal intensity of environment, launch and decoy the reverse direction beyond 20km of flight and simulate GPS signal to unmanned aerial vehicle longitude and latitude at the same time;
s36: and when the unmanned aerial vehicle is forced to land, the unmanned aerial vehicle flies to a preset place, and a GPS position analog signal of a no-fly zone or a return point position analog signal of the unmanned aerial vehicle is transmitted to the unmanned aerial vehicle, so that the unmanned aerial vehicle is induced to land automatically, wherein the return point position is a take-off point position. The navigation point position is obtained by the fly hand positioning method in the seventh embodiment.
Example ten:
when the unmanned aerial vehicle defending system of the fifth embodiment is used for performing unmanned aerial vehicle GPS spoofing trapping, the method aims at an anti-GPS spoofing unmanned aerial vehicle GPS spoofing method based on GPS position and strength memory, and the method is that the unmanned aerial vehicle is simultaneously transmitted with GPS spoofing signals and GPS interference signals at the current position, the GPS spoofing signals are larger than the GPS interference signals, and the strength of the GPS interference signals is gradually increased until the strength of the GPS interference signals is equal to that of a surrounding environment real GPS signal.
Example eleven:
when the unmanned aerial vehicle defending system described in the sixth embodiment is used for trapping the GPS spoofing of the unmanned aerial vehicle with the non-legal remote control frequency band, the unmanned aerial vehicle position detecting device in the unmanned aerial vehicle defending system described in the sixth embodiment comprises at least one radio frequency spectrum unmanned aerial vehicle position detecting device;
a GPS spoofing trapping method for a non-legal remote control frequency band unmanned aerial vehicle comprises the following steps:
s41: detecting, namely detecting the position of a suspected unmanned aerial vehicle target by using unmanned aerial vehicle position detection equipment, sniffing the frequency of a transmission signal of the suspected unmanned aerial vehicle target by using radio spectrum unmanned aerial vehicle position detection equipment, and guiding a servo holder of a photoelectric tracking, radio interference and GPS spoofing integrated machine to control directional interference antennas of all frequency bands to point to the direction of the suspected unmanned aerial vehicle target;
s42: identifying, namely identifying that the integrated machine is indeed an unmanned aerial vehicle through photoelectric tracking, radio interference and GPS deception, entering the next step, and otherwise, terminating the operation;
s43: tracking, namely controlling a servo cradle head by utilizing video information of the unmanned aerial vehicle and detection information of position detection equipment of the unmanned aerial vehicle, so that antennas in all frequency bands always point to the unmanned aerial vehicle;
s44: blocking interference, generating sweep frequency noise of a sniffing frequency band by a software radio generator, transmitting the sweep frequency noise through a power amplifier and an antenna, enabling the unmanned aerial vehicle to be out of connection with a remote controller, and simultaneously interfering GPS signals to lose GPS satellite positioning;
s45: automatically returning to the navigation decoy, closing GPS frequency band interference, and simultaneously transmitting longitude and latitude simulation GPS signals beyond 20km in the reverse direction of the pre-decoy flight to the unmanned aerial vehicle;
s46: and when the unmanned aerial vehicle is forced to land, the unmanned aerial vehicle flies to a preset place, and a GPS position analog signal of a no-fly zone or a position analog signal of a return point of the unmanned aerial vehicle is transmitted to the unmanned aerial vehicle, so that the unmanned aerial vehicle is induced to land automatically, wherein the position of the return point is the position of a take-off point.
The above embodiments are merely preferred embodiments of the present invention and are not intended to limit the present invention, and any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of the present invention.
Claims (4)
1. Unmanned aerial vehicle defense system, its characterized in that includes: the unmanned aerial vehicle position detection device comprises an integrated machine for photoelectric tracking, radio interference and GPS deception; each device is communicated and interconnected with a back-end computer through a front-end network switch;
the photoelectric tracking, radio interference and GPS spoofing integrated machine consists of front-end equipment in an unmanned aerial vehicle interference spoofing system;
the front-end device includes: the system comprises a servo holder system, a photoelectric video module, a radio interference deception unit, a front-end network switch and a power module; wherein,,
the servo cradle head system performs data communication with a rear-end computer through a front-end network switch;
the photoelectric video module is in data communication with the back-end computer through a front-end network switch;
the radio interference deception unit is in data communication with the back-end computer through the front-end network switch;
the radio interference spoofing unit includes: a directional radio frequency antenna and a software defined radio generator;
the radio interference spoofing unit is used for generating and transmitting radio communication interference signals, GPS frequency band interference signals and GPS spoofing signals of the unmanned aerial vehicle through the directional radio frequency antenna; the GPS frequency band interference signal is used for interfering communication between the unmanned aerial vehicle and the GPS; the radio communication interference signal is used for interfering communication between the unmanned aerial vehicle and the remote controller;
the GPS deception signal generated by the radio interference deception unit is generated by a back-end computer and a software radio generator; the GPS deception signal and the GPS frequency band interference signal are transmitted through the same directional radio frequency antenna; the direction of the directional radio frequency antenna is parallel to the direction of the optical axis of the lens of the photoelectric video module;
the unmanned aerial vehicle defense system is utilized for carrying out the positioning of the flying hand, and the method specifically comprises the following steps:
s11: detecting, namely detecting the position of a suspected unmanned aerial vehicle target by using unmanned aerial vehicle position detection equipment, and guiding a servo holder system of an integrated machine of photoelectric tracking, radio interference and GPS deception to control directional interference antennas of all frequency bands to point to the direction of the suspected unmanned aerial vehicle target;
s12: identifying, namely identifying that the integrated machine is indeed an unmanned aerial vehicle through photoelectric tracking, radio interference and GPS deception, entering the next step, and otherwise, terminating the operation;
s13: tracking, namely controlling a servo cradle head system by utilizing unmanned aerial vehicle video information from a photoelectric video module and detection information from unmanned aerial vehicle position detection equipment, so that antennas in all frequency bands always point to the unmanned aerial vehicle;
s14: the automatic return interference, the communication frequency band of the unmanned aerial vehicle is interfered by the radio communication interference signal, so that the unmanned aerial vehicle is disconnected with the remote controller, and the automatic return is realized;
s15: the position and the course are recorded for the first time, and the unmanned plane position detection equipment records the current real position coordinate information and the course information of the unmanned plane;
s16: blocking interference, namely interfering a communication frequency band of the unmanned aerial vehicle through a radio communication interference signal, so that the unmanned aerial vehicle is disconnected with a remote controller, interfering a GPS frequency band of the unmanned aerial vehicle through a GPS frequency band interference signal, and losing GPS satellite positioning;
s17: automatically returning to the navigation decoy, closing GPS frequency band interference, and simultaneously transmitting longitude and latitude simulation GPS signals which are not in the same direction as the flight heading of the unmanned aerial vehicle detected in the step S15 and are away from the unmanned aerial vehicle by more than 5km to the unmanned aerial vehicle;
s18: the position and heading secondary record is carried out, and unmanned plane heading information is recorded by unmanned plane position detection equipment;
s19: calculating a take-off point, namely calculating the position information of the take-off point of the unmanned aerial vehicle according to the real coordinate information and the course information of the unmanned aerial vehicle measured in the step S15 and the virtual coordinate information of the unmanned aerial vehicle generated in the step S17, namely, the longitude and latitude which are not in the same direction as the flight course of the unmanned aerial vehicle detected in the step S15 and are away from the unmanned aerial vehicle by 5km, and according to the course information of the unmanned aerial vehicle recorded in the step S18;
the unmanned aerial vehicle GPS deception trapping is carried out by utilizing the unmanned aerial vehicle defense system, and the method specifically comprises the following steps:
s21: detecting, namely detecting the position of a suspected unmanned aerial vehicle target by using unmanned aerial vehicle position detection equipment, and guiding a servo holder system of an integrated machine of photoelectric tracking, radio interference and GPS deception to control directional interference antennas of all frequency bands to point to the direction of the suspected unmanned aerial vehicle target;
s22: identifying, namely identifying that the integrated machine is indeed an unmanned aerial vehicle through photoelectric tracking, radio interference and GPS deception, entering the next step, and otherwise, terminating the operation;
s23: tracking, namely controlling a servo cradle head system by utilizing video information of the unmanned aerial vehicle and detection information of position detection equipment of the unmanned aerial vehicle, so that antennas in all frequency bands always point to the unmanned aerial vehicle;
s24: blocking-type interference, namely, interference of a communication frequency band and a GPS frequency band of the unmanned aerial vehicle, so that the unmanned aerial vehicle is disconnected with a remote controller, and GPS satellite positioning is lost;
s25: automatically returning to the navigation decoy, closing GPS frequency band interference, and simultaneously transmitting longitude and latitude simulation GPS signals beyond 20km in the reverse direction of the pre-decoy flight to the unmanned aerial vehicle;
s26: the unmanned aerial vehicle forced landing, when the unmanned aerial vehicle flies to a preset place, a GPS position analog signal of a no-fly zone is transmitted, or a return point position analog signal of the unmanned aerial vehicle is transmitted to the unmanned aerial vehicle, so that the unmanned aerial vehicle is induced to automatically land, and the return point position is a navigation point position;
the anti-GPS spoofing unmanned aerial vehicle based on GPS position and intensity memory is subjected to GPS spoofing by the unmanned aerial vehicle defending system, meanwhile, the current position GPS spoofing signal and the GPS frequency band interference signal of the unmanned aerial vehicle are transmitted by the unmanned aerial vehicle, the GPS spoofing signal is larger than the GPS frequency band interference signal, and the intensity of the two signals to the GPS frequency band interference signal is gradually increased to be equal to that of a surrounding environment real GPS signal.
2. The unmanned aerial vehicle defense system of claim 1, wherein,
the generation part of the radio communication interference signal and the GPS frequency band interference signal of the radio interference spoofing unit consists of an interference switch controller connected with a front-end network switch, a 1.5G radio interference module, a 2.4G radio interference module and a 5.8G radio interference module which are respectively connected with the interference switch controller;
the generation part of the GPS deception signal of the radio interference deception unit consists of a software radio generator connected with a front-end network switch and a 1.5G radio frequency power amplifier module connected with the software radio generator;
the 1.5G radio frequency power amplifier module and the 1.5G radio interference module are connected with a 1.5G directional radio frequency antenna through a power divider; the 2.4G radio interference module and the 5.8G radio interference module are connected with directional radio frequency antennas of corresponding frequency bands respectively.
3. The unmanned aerial vehicle defense system of claim 1, wherein,
the radio communication interference signals generated by the radio interference spoofing unit are divided into low-frequency interference signals and high-frequency interference signals; the low-frequency interference signal is generated by a software radio generator connected with a front-end network switch, is sent to a low-frequency power amplification module for amplification, and is transmitted by a low-frequency ultra-wide directional radio frequency antenna; the high-frequency interference signal is generated by a software radio generator connected with a front-end network switch, is sent to a high-frequency power amplification module for amplification and is transmitted by a high-frequency ultra-wide directional radio frequency antenna;
the GPS deception signal and GPS frequency band interference signal of the radio deception unit are generated by a software radio generator connected with a front-end network switch, amplified by a 1.5G radio frequency power amplification module connected with the software radio generator, and transmitted by a 1.5G directional radio frequency antenna.
4. The unmanned aerial vehicle defense system of claim 1, wherein the unmanned aerial vehicle GPS spoofing trap is performed with the unmanned aerial vehicle defense system, replacing S25 with: and (3) automatically returning to the navigation decoy, reducing GPS frequency band interference power to the GPS signal intensity of the real satellite in the environment, and simultaneously transmitting longitude and latitude simulation GPS signals beyond 20km in the reverse direction of the pre-decoy flight to the unmanned aerial vehicle.
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| CN111692922A (en) * | 2020-06-10 | 2020-09-22 | 河北冀贞科技有限公司 | Unmanned aerial vehicle defense system based on electromagnetic fence technology |
| CN112067019B (en) * | 2020-09-09 | 2022-06-17 | 中国航空工业集团公司雷华电子技术研究所 | Inertial navigation delay real-time estimation method under large-maneuvering condition of carrier |
| CN112581797A (en) * | 2020-12-23 | 2021-03-30 | 中交遥感天域科技江苏有限公司 | Networking type unmanned aerial vehicle detection positioning system |
| CN112902756A (en) * | 2021-01-05 | 2021-06-04 | 成都汇蓉国科微系统技术有限公司 | Low-slow small-flight target designated point trapping method based on low-altitude rejection system |
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